Multibody System Dynamics (IMSD) Was Held at the Institute of Engineering and Computational Mechanics at the University of Stuttgart, Germany in May 29 - June 1, 2012

Final Report of the IMSD 2012

Stuttgart, Germany

For more information www.itm.uni-stuttgart.de/imsd2012 1. Summary

The Joint International Conference on Multibody System Dynamics (IMSD) was held at the Institute of Engineering and Computational Mechanics at the University of Stuttgart, Germany in May 29 - June 1, 2012.

The IMSD conference is a biannual series that serves as a meeting point for the international Multibody community and as an opportunity to exchange high-level, current information on the theory and applications of Multibody systems. As a rapidly growing branch of mechanical dynamics, Multibody System Dynamics is seeing more and more use, and is becoming increasingly important in the development of complex engineered systems. The continual new challenges faced by the IMSD community demand productive conference forums where ideas are freely exchanged and a spirit of cooperation is encouraged.

Overview of the Conference Besides seven distinguished keynote lectures, 56 technical sessions were held, offering 192 technical presentations authored by more than 450 authors. In total, 299 participants from 29 different countries participated in the IMSD 2012. The conference website can be found at: http://www.itm.uni-stuttgart.de/imsd2012

We would like to thank the following institutional sponsors for their highly appreciated support. ASME (American Society of Mechanical Engineers) IFToMM (International Federation for the Promotion of Mechanism and Machine Science) IUTAM (International Union of Theoretical and Applied Mechanics) JSME (Japan Society of Mechanical Engineers) KSME (Korean Society of Mechanical Engineers)

We would like to thank the following industrial sponsors for their highly appreciated support. Alcatel-Lucent Carl Zeiss SMT ESTA Apparatebau FunctionBay GmbH Maplesoft Europe Robert Bosch GmbH SIMPACK

The organization of the IMSD 2012 was supervised by an International Steering Committee consisting of the following distinguished academics. Jorge Ambrosio (Portugal) Kurt Anderson (USA, ASME) Olivier Bauchau (USA/China, ASME) Carlo Bottasso (Italy) Javier Cuadrado (Spain, IFToMM, Secretary of Steering Committee) Peter Eberhard (Germany, Conference Chair) Sung-Soo Kim (Korea, KSME) Jinyang Liu (China) John McPhee (Canada, IFToMM) Aki Mikkola (Finland, Steering Committee Chair) Friedrich Pfeiffer (Germany, IUTAM) Jean-Claude Samin (Belgium) Werner Schiehlen (Germany, IFToMM, Steering Committee Vice-chair) Ahmed Shabana (USA, ASME) Yoshihiro Suda (Japan, JSME)

The IMSD 2012 featured several different session topics which were organized by the following session organizers. Session Session Organizers

Algorithms, Integration Codes and Software Martin Arnold Dan Negrut

Biomechanics Jorge Ambrosio Andres Kecscemethy

Contact and Impact Problems Christoph Glocker Jinyang Liu

Dynamics of All Vehicles Javier Cuadrado Arend Schwab

Dynamics of Machines and Rotating Structures Carlo Bottasso Michael Valasek

Efficient Methods and Real-Time Applications Kurt Anderson Taichi Shiiba

Flexible Multibody Systems Jean-Claude Samin Ahmed Shabana

Optimization, Sensitivity Analysis and Parameter Dieter Bestle Identification John McPhee

Robotics, Control and Mechatronics Felix Chernousko Subir Saha

Theoretical and Computational Methods Wojciech Blajer Werner Schiehlen

Other Topics Sung-Soo Kim (including Multidisciplinary Approaches and Experiments) Nobuyuki Shimizu

The IMSD 2012 served as a meeting point for the international multibody community and provided an opportunity to exchange high-level, current information on the theory and applications of multibody systems. It therefore provided the opportunity to also hold the IFToMM Technical Committee meeting at the conference. In addition, the IMSD 2012 also offered a social program. Besides the Welcome Session a Conference Reception was held in the courtyard of the Old Castle of Stuttgart, a visit of the Mercedes-Benz Museum was organized and the Conference Dinner was held in the Aquarium of the Stuttgart Zoo Wilhelma.

2. Conference Organization For the organization of the IMSD 2012 various deadlines were chosen. The abstract submission deadline was November 28, 2011. The abstract submission deadline was later extended to December 5, 2011. The notification of acceptance or rejection was sent out on January 23, 2012. The review process of the abstracts was organized by the session organizers. Based on their reviews the abstracts were distributed to the respective sessions for oral presentations. A small number of late submissions after the abstract submission deadlines were reviewed by the organizing conference staff. The submission of a full proceedings paper was on a voluntary basis. The deadline for submitting a full proceedings paper was March 19, 2012. The full proceedings papers were not further reviewed.

3. Conference Finances The conference was financed mainly through the registration fees of the participants. Some financial support was also provided by the industrial sponsors.

Registration Fees before February 13, 2012 after February 13, 2012 Participant 390,00 Euro 440,00 Euro Accompanying Person 150,00 Euro 170,00 Euro

The conference fee for participants included a book of abstracts, a USB flash drive of the conference proceedings, attendance at all scientific sessions, coffee breaks, lunches, welcome reception, visit at the Mercedes Benz museum and the conference dinner. The conference fee for accompanying persons covered the social events, i.e. visit at the Mercedes Benz museum and the conference dinner.

Industrial Sponsors that supported financially Alcatel-Lucent Carl Zeiss SMT ESTA Apparatebau FunctionBay GmbH Maplesoft Europe Robert Bosch GmbH SIMPACK

4. Conference Statistics

Participating Countries In total, 299 participants from the following 29 different countries participated in the IMSD 2012. Australia 2 Austria 9 Belgium 18 Bulgaria 1 Canada 14 China 13 Croatia 1 Czech Republic 4 Denmark 1 Finland 4 France 8 Germany 89 Hungary 2 India 4 Iran 2 Ireland 4 Italy 16 Japan 19 Korea 19 Netherlands 6 Poland 5 Portugal 4 Russian Federation 7 Slovenia 4 Spain 15 Sweden 3 Switzerland 5 United Kingdom 4 United States 16

Presentation Statistics In total, 255 abstracts were submitted, of which 225 were eventually accepted. At the conference 204 of these 225 accepted abstracts were finally presented. During the conference 5 abstracts that were accepted and scheduled for presentation, were canceled.

Full Proceedings Papers In total, 145 full proceedings papers were submitted. Of these submitted papers, 140 full papers were included to the Conference Proceedings that were published as a USB flash drive. Conference Information Booklet

nd Joint International Conference on IMSD

The 2 The Multibody System Dynamics

Stuttgart, Germany May 29 – June 1, 2012

For more information www.itm.uni-stuttgart.de/imsd2012 Supporting Organizations

Industrial Sponsors Welcome to the

nd Joint International Conference on IMSD

The 2 The Multibody System Dynamics

“The University of Stuttgart is going to increase its international presence and concentrate on themes that are of central importance to our future.”

Prof. Dr.-Ing. Wolfram Ressel Rector University of Stuttgart Material

Conference Maps Campus Vaihingen ...... 6 Siteplan of the Conference Rooms ...... 7

Maps for Social Events Old Castle in the Centre of Stuttgart ...... 15 Mercedes-Benz Museum ...... 16 Zoological and Botanical Garden “Wilhelma” ...... 17 Table of Content

Welcome to the Conference 5 Conference Objectives ...... 5 Presentation Preparations ...... 5 Steering Committee ...... 5

Location of the Conference 6

This is Stuttgart, Germany 8 A Little about Germany ...... 8 The Stuttgart Region ...... 8

University of Stuttgart 10

A Research University of International Standing ...... 10

Useful Information 12 Tickets and Transportation ...... 12 How to Arrive at the University Campus Vaihingen ...... 12 Useful Addresses & Phone Numbers ...... 12 Practical Matters ...... 13

Social Program 14 Registration ...... 14 Welcome Reception ...... 14 Conference Reception ...... 14 Excursion ...... 16 Conference Dinner ...... 17 Transfer ...... 18

Program Overview ...... 20 Detailed Technical Program ...... 22 Tuesday, May 29, 2012 ...... 22 Wednesday, May 30, 2012 ...... 26 Thursday, May 31, 2012 ...... 30 Friday, June 1, 2012 ...... 34 Welcome to the Conference

may use their own laptops if they wish. Conference Objectives In any case, please check your hardware Multibody dynamics as an engineering and presentation ahead of time. discipline has become an important tool for virtual prototyping, machine design The time allotted for each presentation and computer aided analysis of complex is 20 minutes. This time includes 5 min- articulated mechanical systems. Multi- utes for discussion, so you have 15 min- body dynamics comprises a number of utes for the presentation itself. Please aspects, including mechanics, structural help us to run a smooth conference by dynamics, applied mathematics, control beginning your presentation on time methods and computer science, as well and strictly holding to the time allot- as mechatronics. ted. Check with your Session Chairman before the beginning of your session, The purpose of the conference is to so he knows of your presence and can serve as a meeting point for the interna- properly pronounce your name. tional multibody community. The topics of the conference include, but are not restricted to: Steering Committee An International Steering Committee V Algorithms, Integration Codes and supports the Second Joint International Software Conference on Multibody System Dy- namics. The members of the Committee V Biomechanics are: V Contact and Impact Problems Jorge Ambrosio (Portugal) V Dynamics of All Vehicles Kurt Anderson (USA, ASME) V Dynamics of Machines and Rotating Olivier Bauchau (USA/China, ASME) Structures Carlo Bottasso (Italy) V Efficient Methods and Real-Time Ap- plications Javier Cuadrado (Spain, IFToMM, Secretary) V Flexible Multibody Systems Peter Eberhard (Germany, Chair) V Optimization, Sensitivity Analysis and Parameter Identification Sung-Soo Kim (Korea, KSME) V Robotics, Control and Mechatronics Jinyang Liu (China) V Theoretical and Computational John McPhee (Canada, IFToMM) Methods Aki Mikkola (Finland, Chairman) V Other Topics Friedrich Pfeiffer (Germany, IUTAM) Jean-Claude Samin (Belgium) Presentation Preparations Werner Schiehlen (Germany, IFToMM, Each conference room will be equipped Vice-chair) with a computer running Windows 7 Ahmed Shabana (USA, ASME) with Microsoft Office 2010 and Adobe Acrobat Reader. Please upload your Yoshihiro Suda (Japan, JSME) presentation to the computer ahead of time to minimize delays. Presenters

5 Location of the Conference

University of Stuttgart, Pfaffenwaldring 7 and 9 P

Campus Vaihingen The conference will take place in the lecture rooms of the University of Stuttgart in Stuttgart- Vaihingen in the buildings Pfaffenwaldring 7 and 9 6 Building Pfaffenwaldring 9 Building Pfaffenwaldring 7 Ground Floor Ground Floor Parking 0.267

0.208 Elevator to visit Institute of Engineering and Computational Mechanics i (4th ﬂ oor)

Conference Desk

0.144 0.153

To ﬁ rst ﬂ oor of V 9.01 Pfaffenwaldring 7

Cafeteria

Commundo Main entrance Tagungshotel (Lunch)

Building Pfaffenwaldring 7 First Floor Parking

V 7.03

V 7.04

To ground ﬂ oor of Conference Desk, Pfaffenwaldring 7 Coffee breaks, Sponsor booths, Wardrobe, Get together Lectures V 7.02 Toilets (man – Herren, woman – Damen) Commundo Lunch Tagungshotel Elevator (Lunch)

Siteplan of the Conference Rooms The buildings are interconnected, therefore the distances between the lecture halls of the conference are short. Use this siteplan for your orientation. 7 This is Stuttgart, Germany

A Little about Germany Germany, ofﬁcially the Federal Republic of Germany, is a federal parliamentary republic in Europe. The country consists of 16 states while the capital and largest city is Berlin. Germany covers an area of 357 021 km2 and has a largely tem- perate seasonal climate. With 81.8 million inhabitants, it is the most populous member state and the largest economy in the European Union. It is one of the major political powers of the European continent and a technological leader in Opera of Stuttgart many ﬁelds. The Stuttgart Region Inventive, cultivated, relaxing and enticing at the same time Map of Germany and Baden- In the Stuttgart Region nature goes Württemberg hand in hand with technology, and tra- dition with innovation. Its architecture Stuttgart is the capital of the state is both Baroque and modern. It spans of Baden-Württemberg in southern the diversity of the pulsating economic Germany. metropolis and a wealth of culture on the highest level. And all of this is to be found amidst an idyllic, topographically appealing scenery.

The Stuttgart Region comprises 179 Hamburg towns and communities, divided into ﬁve administrative districts and the mu- nicipality of Stuttgart. About 2.7 million Berlin Hannover people of around 170 different nationali- ties live here, 581 092 of them in Stutt- gart. The state capital’s main landmark is the Television Tower - the ﬁrst of its kind Köln Dresden worldwide.

FrankfurtFraF nkfu Stuttgart owes its name to a stud farm, IMSD or “Stuotgarten”, which Duke Liudolf of 2012 Swabia is said to have founded in 950 AD. To defend this stud farm the Old StuttgartSSt Castle was built. The New Castle was the residence of the kings of Württemberg München Freiburg up to the middle of the 19th century. To- day the building contains ministries of the Baden-Württemberg state govern- ment and state reception rooms.

The Castle Square is the most central part of Stuttgart. It’s an absolute must when enjoying a stroll through the city,

8 Did you know ... Europe’s largest high-tech region that Stuttgart is the city with the largest re- lief variation out of all German major cities? The city area stretches over a difference in elevation of 342 meters. Therefore you can climb in Stuttgart the most stairways of all German cities with a stretch of 30 kilome- ters length. The Stuttgart region is a main centre for: V the automotive industry V mechanical engineering V electrical engineering because this is where the city’s heart- beat can best be felt. It is bordered by V information and communication Königstraße, Europe’s longest pedestri- technology an shopping precinct, 1.2 km in length. V environmental technology

Stuttgart is spread across a variety of hills (some of them vineyards), valleys and parks – unusual for a German city and often a source of surprise to visitors who primarily associate the city with its industrial reputation as the ‘cradle of the automobile’.

Königstraße in the city centre, one of the most frequented shopping streets in Germany

The Landtag, the State Parliament building, is located in the Upper Castle Gar- dens. Directly adjacent are the Staats- theater Stuttgart, Europe’s largest triple- branch theatre, comprising Stuttgart State Opera, the world-famous Stuttgart Ballet and the Schauspiel Stuttgart theatre company.

A wide diversity of museums rounds off the culture scene. The Stuttgart Museum of Art has the world’s most outstanding collection of the oeuvre of Otto Dix. The Stuttgart State Gallery has works from 700 years on display and is one of the Television Tower – Landmark of the city and the most visited museums in the country. ﬁrst in the world built of ferroconcrete

9 University of Stuttgart

A Research University of International Standing The University of Stuttgart lies right in the centre of the largest high-tech region of Europe. We are surrounded by a number of renown research facilities and have such global industrial players as Daimler or Bosch as our neighbours.

We were founded in 1829 and over the years this technical institution has de- veloped to the research intensive university that it is today. Our main em- Test setup for monitoring the contact force phasis is on engineering and the natural at a middle-ear prosthesis sciences. However, combining these areas with humanities and the social V Technology concepts and technology sciences adds something special to our assessment proﬁle. V Energy and environment Indicators of our excellent status are V Mobility projects like the Excellence Cluster “Simulation Technology”. We are also V Integrated product and production involved in a number of Collaborative design Research Centres and Research Training V Design and technology of Groups. sustainable living spaces Our research activities are concentrated We are going to strengthen our research around eight interdisciplinary areas: through interdisciplinary networks of V Modelling and simulation cooperation in order to continue to ex- technology pand our cutting-edge position in these ﬁelds. We are going to increase our in- V New materials ternational presence and concentrate V Complex systems and on themes that are of central impor- communication tance to our future.

Behind this lies the vision of undertak- ing research on the whole life-cycle of a product. This involves not only the engineering implementation but also the evaluation of the sustainability of the technical innovations.

Did you know ... that the “Tagblatt-Tower” (publisher of a lo- cal newspaper) was the ﬁrst skyscraper in Education and training for scientists of Stuttgart with its 61 meters and 18 ﬂoors, different engineering disciplines built in 1928?

10 Departments At a glance

V Architecture and Urban Planning V ~ 4 800 employees V Civil and Environmental Engineering V ~ 2 800 scientiﬁc staff V Chemistry V ~ 250 professors V Energy Technology, Process V ~ 22 600 students enrolled at Engineering and Biological 10 departments Engineering V ~ 4 500 international students from V Computer Science, Electrical more than 100 countries all over the Engineering and Information world Technology V ~ 75 study programs V Aerospace Engineering and Geodesy V 7 MSc Programs taught in English V Engineering Design, Production V ~ 400 partner universities worldwide Engineering and Automotive Engineering V annual budget of ~ 400 000 000 Euro V Mathematics and Physics V Humanities V Management, Economics and Social Sciences

We have become one of the most popu- We offer about 75 degree programs. lar education institutions world-wide We also have seven international MSc- for the subjects we offer. Around 22 600 degree programs taught entirely in students are enrolled in the courses of- English. In addition, we offer numerous fered by the 150 institutes in the 10 dif- activities that are tailor-made for our in- ferent departments. ternational partners.

The lecture halls are well ﬁlled Modern buildings on the Campus in Vaihingen

11 Useful Information

take one of the following suburban rail- Tickets and Transportation ways (German: S-Bahn) which travel You can ride all streetcars, suburban every 10 minutes. It takes you about 10 railways and buses within the metro- minutes to get from the main station to politan Stuttgart area with a VVS ticket. the University Campus Vaihingen (Ger- VVS means Transit and Tariff Associa- man: Universität): tion Stuttgart (German: Verkehrs- und Tarifverbund Stuttgart). We recommend V S1: Direction Böblingen / Herrenberg you to buy a single ride ticket (German: Einzelticket) for two zones for your jour- V S2: Direction Vaihingen / Filderstadt ney from the airport to the University V S3: Direction Vaihingen / Flughafen / Campus Vaihingen or from the main Messe station to the University Campus Vaihin- gen or vice versa. Step off at the station Leave the station at the exit University “Universität”. Centre (German: Universitätszentrum) which is very close to Pfaffenwaldring. A single ride ticket entitles the rider to one ride in the same direction, but After arriving at the platform take the changing lines as well as short ride in- exit to the University Campus and af- terruptions are permitted. The tickets ter going up by elevator or stairways remain in effect for two hours from pur- you are already in front of the confer- chase. The price for two zones is 2.60 ence building. If you take the wrong exit Euro. and find yourself in a living area, don’t worry. The university is just two minutes You can buy your ticket from the ticket walking away. machines. You will find them close to the entry of the suburban railway sta- tions. Unfortunately you won’t find the ticket machines on the platform of the Useful Addresses & Phone Numbers suburban railways. Emergency number 112 In case of an emergency call 112. This Single Day Tickets with an unlimited number will connect you to the po- number of rides or a discounted multi- lice, ambulance or fire department. The trip travel card with four single tickets emergency number does not require an are also available from the ticket ma- area code and the phone call is free. chines. Police The 3-Day-Ticket is an attractive offer The nearest police station to the Univer- designed for overnight guests at hotels sity Campus Vaihingen is located in the and guest houses within the VVS territo- Pfaffenwaldring 1. The telephone num- ry. Please ask for a 3-Day-Ticket in your ber is 0049 (0) 711- 6869230. Another hotel. one is located in the Robert-Leicht- Straße 15. The telephone number is A map of the railway network is con- 0049 (0) 711-8990-4460. tained in the conference bag. Taxi A taxi from the University Campus Vai- How to Arrive at the University hingen to the city centre or vice versa Campus Vaihingen costs about 22 Euro but the suburban railway (German: S-Bahn) is faster and From Stuttgart main station (German: cheaper. A telephone number to reserve Hauptbahnhof) or from Stuttgart city a taxi is 0049 (0) 711-731441. centre (German: Stadtmitte) you should

12 The voltage in Germany is 220 V (230 V), Practical Matters 50 Hz. Round “European” two-pin plugs German time is 1 hour ahead of Green- and sockets are used. wich Mean Time (UTC+1), in Summer (from March to October) 2 hours ahead Only pharmacies (German: Apotheke) of Greenwich Mean Time (UTC+2). sell medicines. They are usually open from 9.30 a.m. until 8 p.m. on weekdays Supermarkets are usually open from 8 (Monday to Saturday). a.m. until 8 p.m. on weekdays (Monday to Saturday). Shops are usually open Coffee breaks will take place twice a from 9.30 a.m. until 8 p.m. on week- day, in the morning and in the afternoon days (Monday to Saturday). On Sunday in the room 0.267. and public holidays (like Monday May 28, 2012) supermarkets and shops are Lunches are served between 1 p.m. and closed. 2 p.m. in the restaurant of the Commun- do Tagungshotel, Universitätsstraße 34. Prices in Germany already contain value-added tax (VAT). Additional tips in Wireless internet is available for the the amount of 5-10% of the bill are usual conference participants in the confer- in restaurants. ence venue. Eduroam can be used. Log- ins and passwords will be given at the Post ofﬁces and mailboxes are yellow Registration Desk. Alternatively some and bear the label “Deutsche Post”. computers with internet access are also available in the computer room of the The tap water in Germany is safe to Institute of Engineering and Computa- drink. tional Mechanics.

Common Expressions in German language

Germany Deutschland Entrance Eingang Hello! Hallo Exit Ausgang Bye! Tschüss Help! Hilfe Goodbye! Auf Wiedersehen See you later Bis später! one eins Yes Ja two zwei No Nein three drei Thank you! Danke four vier You’re welcome! Bitte! ﬁve fünf Excuse me Entschuldigung six sechs My name is ... Ich heiße ... seven sieben I’d like ... Ich hätte gerne ... eight acht How much is it ... Was kostet ...? nine neun Could we pay please? Zahlen bitte. ten zehn I don’t understand. Ich verstehe Sie nicht. Monday Montag I don’t speak German. Ich spreche kein Tuesday Dienstag Deutsch. Wednesday Mittwoch Do you speak English? Sprechen Sie Thursday Donnerstag Englisch? Friday Freitag How are you? Wie geht es Ihnen? Saturday Samstag Where is the toilet? Wo ist die Toilette? Sunday Sonntag

13 Social Program

Registration Welcome Reception University of Stuttgart University of Stuttgart The conference registration will start on The welcome reception will begin on Monday, 28th of May 2012, from 4 p.m. Monday, 28th of May 2012 at 6 p.m. It until 8 p.m. in the room 0.208, Pfaffen- will take place in the room 0.208, Pfaff- waldring 9, at the Registration Desk. enwaldring 9, at the Registration Desk. This is where the participants get the Please note that this day is a public holi- ﬁrst chance to meet each other. day in Germany and shops are closed. Conference Reception Inner courtyard of the Old Castle On Tuesday evening, 29th of May 2012, at 6.30 p.m. the conference reception will take place at the inner courtyard of the Old Castle of Stuttgart, which is located in the city centre. We will be able to visit some of the exhibitions in audio- guided tours. Drinks and ﬁngerfood will be served.

The Old Castle is the oldest one in Stutt- gart. The original structure, a moated castle, was built in the 10th century Campus Vaihingen, University of Stuttgart and later extended when the counts of

Wilhelma

Mercedes- Benz Museum

Old Castle

University of Stuttgart

Locations of the conference and the social events

14 Old Castle

Old Castle in the Centre of Stuttgart Conference Reception, Tuesday, 29th of May 2012, 6.30 p.m.

case, allowing riders to reach the upper levels on horseback. When construction of the New Castle began in 1746, the Old Castle was no longer of interest. Please note in the courtyard the statue of Duke Eberhard.

Following severe damage by ﬁre and an air raid in the Second World War, it was rebuilt, and its present appearance is more or less the same as that of the royal castle in the Reformation period. Since 1948 the Old Castle has been home to the Württemberg State Museum. Old Castle in the centre of Stuttgart

Württemberg moved their family seat to Stuttgart in 1325. It was not until the middle of the 16th century that it became more of a castle than a fortress by the addition of side wings and upper sto- Did you know ... ries. The Old Castle was given an arcad- that the Lake Constance (“Bodensee”) is ed inner courtyard and a knights' stair- the largest lake (inland water) in Germany?

15 Mercedes- Benz Museum

Mercedes-Benz Museum Excursion, Thursday, 31st of May 2012, 4 p.m.

Excursion The Mercedes-Benz Museum is the only Mercedes-Benz Museum one in the world to document the com- plete 126-year history of the automobile All participants of the conference are industry from Day One to the present kindly invited for the excursion to the day. Mercedes-Benz Museum on Thursday afternoon, 31st of May 2012, at 4 p.m. Visitors make their way along two cir- cular routes on nine different levels through 126 years of automotive history. From 1886 up to the present day. The exhibition is divided into "Legend" and "Collection" rooms.

The seven Legend Rooms tell the story of the Mercedes-Benz brand, subdivided into themes and eras. They illustrate the history of the automobile, from its in- vention up to the present day, in chron- ological order. The Collection Rooms show the diversity of the vehicles pro- duced, arranged according to topics. The excursion to the Mercedes-Benz Museum will be part of the conference

16 Conference Dinner "Wilhelma" Zoological and Botanical Garden The Conference Dinner will be held on Thursday evening, 31st of May 2012, at 6.45 p.m. in the Aquarium at the Wilhel- ma. The combination of historical ambi- ence, tropical plants and animals make a visit to the Wilhelma a very special expe- rience, no matter what the time of year. Germany's only zoological and botanical garden reﬂects 160 years of history.

Today the "Alhambra on the Neckar", The Conference Dinner will be held in the Aquarium at the Wilhelma Zoological and as the Wilhelma is often referred to, has Botanical Garden about 9000 animals from 1000 different species, making it one of the most di- verse zoos in the world, and one which to a coral reef and from the Neckar to represents a cross-section from every the Murray River are represented by the climatic zone on earth. There's also a corresponding ﬁsh, invertebrates and valuable collection of plants, compris- water plants found there. ing some 6000 species. The adjoining Terrarium is home to all One of the Wilhelma's gems is the manner of bizarre and poisonous crea- Aquarium, always a crowd puller. Un- tures and thrills visitors with its croco- derwater habitats, from the North Sea dile hall.

Wilhelma Aquarium

Zoological and Botanical Garden “Wilhelma” Conference Dinner, Thursday, 31st of May 2012, 6.45 p.m.

17 Transfer Individual arrival to the Conference Reception at the inner courtyard of the Old Castle Please use the suburban railway S1 (Di- rection: Kirchheim/Teck), S2 (Direction: Schorndorf) or S3 (Direction: Backnang) from the University Campus Vaihingen (German: Universität) to the station “Stadtmitte”. You need a valid ticket for two zones.

Leave the station at the exit “Büchsen- The shuttle bus departs close to the straße” and then use the map on page building in Pfaffenwaldring 7 and 9 in front 15 to get to the Old Castle by foot. of the Commundo Tagungshotel

At the end of the conference dinner, there will be a bus shuttle back to the city centre of Stuttgart and to the Uni- versity Campus Vaihingen. More details will be given during the conference.

The entrance of the Old Castle is on the side of the Castle Square (German: Schlossplatz)

Shuttle bus to the Mercedes-Benz Museum and the Conference Dinner A shuttle bus will depart on Thursday, 31st of May 2012, at 3.45 p.m. at the University of Stuttgart in the Univer- sitätsstraße (Schleife) bringing the participants directly to the Mercedes-Benz Museum and later to the Wilhelma.

Did you know ... that Stuttgart´s cable car is humorously called “Legacy Hunter Express” or “Wid- ows Express”? The wooden cable car of 1929 got these nicknames because of its station at the cemetery “Waldfriedhof”.

!# 16:00 – 20:00 Pre-Registration Room 0.208 18:00 – 20:00 Welcome Reception Room 0.208

$%# Registration Desk opens at 8 a.m. 09:00 – 09:40 WELCOME SESSION Room V 7.02 09:40 – 10:20 KEYNOTE Wan-Suk Yoo Room V 7.02 MBD Applications in Design 10:30 – 11:10 FLEX1 CON1 ALG1 Room V 9.01 Room V 7.03 Room 0.144 11:10 – 11:40 COFFEE BREAK 11:40 – 13:00 FLEX2 CON2 OPT1 ALG2 EFF1 Room V 9.01 Room V 7.03 Room V 7.04 Room 0.144 Room 0.153 13:00 – 14:00 LUNCH 14:00 – 14:40 KEYNOTE Olivier Brüls Room V 7.02 Trends and Challenges in Flexible Multibody Dynamics: From Simulation to Control and Design 14:50 – 15:50 FLEX3 CON3 OPT2 ALG3 EFF2 Room V 9.01 Room V 7.03 Room V 7.04 Room 0.144 Room 0.153 15:50 – 16:20 COFFEE BREAK 16:20 – 17:40 FLEX4 CON4 OPT3 ALG4 EFF3 Room V 9.01 Room V 7.03 Room V 7.04 Room 0.144 Room 0.153

18:30 – 21:00 Conference Reception – Old Castle

'%%(## Registration Desk opens at 8 a.m. 09:00 – 09:40 KEYNOTE Harry Dankowicz Room V 7.02 Computational DFD Analysis: Using Continuation Methods in Dynamics for Design 09:50 – 11:10 ROB1 CON5 FLEX5 ALG5 EFF4 Room V 9.01 Room V 7.03 Room V 7.04 Room 0.144 Room 0.153 11:10 – 11:40 COFFEE BREAK 11:40 – 13:00 ROB2 CON6 FLEX6 ALG6 OTH1 Room V 9.01 Room V 7.03 Room V 7.04 Room 0.144 Room 0.153 13:00 – 14:00 LUNCH 14:00 – 14:40 KEYNOTE Yoshihiro Suda Room V 7.02 Dynamic Simulation and Analysis for Sustainable Transport Systems 14:50 – 15:50 ROB3 CON7 FLEX7 BIO1 OTH2 Room V 9.01 Room V 7.03 Room V 7.04 Room 0.144 Room 0.153 15:50 – 16:20 COFFEE BREAK 16:20 – 17:40 ROB4 CON8 FLEX8 THEO1 Room V 9.01 Room V 7.03 Room V 7.04 Room 0.144

20 )$*(# Registration Desk opens at 8 a.m. 09:00 – 09:40 KEYNOTE Peter C. Müller Room V 7.02 Kurt Magnus: A Pioneer of Multibody System Dynamics 09:50 – 11:10 ROB5 VEH1 BIO2 THEO2 ROT1 Room V 9.01 Room V 7.03 Room V 7.04 Room 0.144 Room 0.153

11:10 – 11:40 COFFEE BREAK 11:40 – 13:00 ROB6 VEH2 BIO3 THEO3 ROT2 Room V 9.01 Room V 7.03 Room V 7.04 Room 0.144 Room 0.153 13:00 – 14:00 LUNCH 14:00 – 15:20 VEH3 BIO4 THEO4 Room V 7.03 Room V 7.04 Room 0.144 16:00 – 18:15 Excursion – Mercedes-Benz Museum 18:45 – 23:00 Conference Dinner – Wilhelma

+*./$%# Registration Desk opens at 8 a.m. 09:00 – 09:40 KEYNOTE Olivier Bauchau Room V 7.02 Intrinsic Time Integration Procedures for Rigid Body Dynamics 09:50 – 11:10 VEH4 BIO5 ROT3 Room V 7.03 Room V 7.04 Room 0.153 11:10 – 11:40 COFFEE BREAK 11:40 – 13:00 VEH5 BIO6 ROT4 Room V 7.03 Room V 7.04 Room 0.153 13:00 – 14:00 LUNCH 14:00 – 14:40 KEYNOTE Aki Mikkola Room V 7.02 Developments and Future Outlook of the Absolute Nodal Coordinate Formulation 14:40 – 15:20 CLOSING SESSION Room V 7.02

ALG Algorithms, Integration Codes and Software OTH Other Topics BIO Biomechanics ROB Robotics, Control and Mechatronics CON Contact and Impact Problems ROT Dynamics of Machines and Rotating Structures EFF Efﬁcient Methods and Real-Time Applications THEO Theoretical and Computational Methods FLEX Flexible Multibody Systems VEH Dynamics of All Vehicles OPT Optimization, Sensitivity Analysis and Parameter Identiﬁcation

WELCOME SESSION 09:00 – 09:40 Peter Eberhard, Chairman IMSD 2012 Room V 7.02 Wolfram Ressel, Rector University of Stuttgart Nobuyuki Shimizu, Representative JSME Aki Mikkola, Chairman IMSD

KEYNOTE | Wan-Suk Yoo 09:40 – 10:20 MBD Applications in Design Room V 7.02 Session Chair: Peter Eberhard

FLEX 1 of 8 | Flexible Multibody Systems 10:30 – 11:10 Session Chair: Ahmed Shabana Room V 9.01 On the Effect of the Discretisation Scheme on the Eigenfrequencies and Modes of Shear Flexible Rods Holger Lang, Joachim Linn Deformation Modes and Dual Stress Resultants of Spatial Beam Elements in Large Deﬂection Multibody System Analyses Ben Jonker, Jacob P. Meijaard CON 1 of 8 | Contact and Impact Problems 10:30 – 11:10 Session Chair: Christoph Glocker Room V 7.03 Multibody Model of a Grand Piano Action Mechanism Aimed at Understanding and Demystifying the Escapement Principle Baudouin Bokiau, Antoine Poncelet, Paul Fisette, Nicolas Docquier A Mechanistic Model of Compression Hysteresis in Compliant Interfaces in Multibody Dynamic Simulation of a Piano Action Mechanism Ramin Masoudi, John McPhee ALG 1 of 6 | Algorithms, Integration Codes and Software 10:30 – 11:10 Session Chair: Dan Negrut Room 0.144 Comparison of Different Error Estimation Approaches for Controlling the Macro-Step Size in Co-Simulation Methods Martin Busch, Robert Schmoll, Bernhard Schweizer Numerical Aspects of FMI for Model Exchange and Co-Simulation v2.0 Martin Arnold, Christoph Clauß, Tom Schierz

COFFEE BREAK 11:10 – 11:40

FLEX 2 of 8 | Flexible Multibody Systems 11:40 – 13:00 Session Chair: Ben Jonker Room V 9.01 Dynamic Response of Geometrically Non-Linear Beam under Moving Mass Eva Zupan, Miran Saje Geometrically Exact Cosserat Rods with Kelvin-Voigt Type Viscous Damping Joachim Linn, Holger Lang, Andrey Tuganov Construction of Discrete Shells by Geometric Finite Differences Clarisse Weischedel, Andrey Tuganov, Tomas Hermansson, Joachim Linn, Max Wardetzky Isogeometric Shell Discretizations for Flexible Multibody Dynamics Anmol Goyal, Michael Dörfel, Bernd Simeon

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CON 2 of 8 | Contact and Impact Problems 11:40 – 13:00 Session Chair: Ronald Aarts Room V 7.03 A Constructive Solution for Kane’s Dynamics Puzzle Christoph Glocker The Global Simulation Method of Flexible Multibody System Dynamics with Impact Zhu-yong Liu, Jia-zhen Hong, Jin-yang Liu, Fu-xiang Dong Load Assessment and Analysis of Impacts in Multibody Systems Francisco González, József Kövecses Experiment Investigation on Flexible Multibody System with Contact-Impact Jinyang Liu, Min Lei OPT 1 of 3 | Optimization, Sensitivity Analysis and Parameter Identification 11:40 – 13:00 Session Chair: Michael Hanss Room V 7.04 Real-Time Parameter Estimation Study for Inertia Properties of Ground Vehicles Jeremy Kolansky, Corina Sandu Physically Motivated Modeling and Identification of Advanced Vehicle Shock Absorbers Dieter Bestle, Torsten Funke Parameter Identification for Multibody Systems Governed by DAEs Thomas Uchida, Chandrika P. Vyasarayani, Michael Smart, John McPhee Friction Modeling and Parameter Value Estimation in Mechanisms Thomas Thümmel, Johannes Rutzmoser, Heinz Ulbrich ALG 2 of 6 | Algorithms, Integration Codes and Software 11:40 – 13:00 Session Chair: Hao Wang Room 0.144 Molecular Dynamics Simulation of Simple Polymer Chain Using Parallel Multibody Algorithm Based on Augmented Lagrangian Method Pawel Malczyk, Janusz Frączek Timestepping Schemes Based on Time Discontinuous Galerkin Methods Thorsten Schindler, Vincent Acary The XDE Mechanical Kernel: Efficient and Robust Simulation of Multibody Dynamics with Intermittent Nonsmooth Contacts Xavier Merlhiot, Jérémie Le Garrec, Guillaume Saupin, Claude Andriot On Non-Unique Solutions of Contact Problems with the Coulomb Friction Vladimír Janovský, Radek Kucera EFF 1 of 4 | Efficient Methods and Real-Time Applications 11:40 – 13:00 Session Chair: Taichi Shiiba Room 0.153 On Developing a Multi-Threaded O(log(n)) Parallel Dynamics Engine Starting from a Sequential O(n) Implementation Kishor D. Bhalerao An Explicit-Implicit Integration Method for Unmanned Robot Vehicle Using the Subsystem Synthesis Method Based on Joint Coordinates Jun-Youn Jo, Sung-Soo Kim, Myoung-Ho Kim Exponential Integration Schemes in Multibody Dynamics Javier Ros, Xabier Iriarte, Roberto Yoldi, Aitor Plaza, Jorge Ángeles On the Applicability of Static Modes Switching in Gear Contact Applications Tommaso Tamarozzi, Pascal Ziegler, Peter Eberhard, Wim Desmet

LUNCH 13:00 - 14:00

KEYNOTE | Olivier Brüls 14:00 – 14:40 Trends and Challenges in Flexible Multibody Dynamics: Room V 7.02 From Simulation to Control and Design Session Chair: Javier García de Jalón

FLEX 3 of 8 | Flexible Multibody Systems 14:50 – 15:50 Session Chair: Wan-Suk Yoo Room V 9.01 Integrated Simulation of GPU Accelerated Particle Dynamics and Multi Flexible Body Dynamics Joon Shik Yoon, Ji Soo Park, Cheol O Ahn, Jin Hwan Choi Efficient Modeling of Frictional Contacts with Absolute Nodal Coordinate Formulation and the Parallel GPU Implementation for Simulation of Large Systems with Flexible Bodies Naresh Khude, Dan Melanz, Justin Madsen, Dan Negrut Integration of Nonlinear Models of Flexible Body Deformation in Multibody System Dynamics Martin Schulze, Stefan Dietz, Andrey Tuganov, Holger Lang, Joachim Linn CON 3 of 8 | Contact and Impact Problems 14:50 – 15:50 Session Chair: Sigrid Leyendecker Room V 7.03 Towards a Real-Time Capable Realistic Soil Contact Model Using a Particle System Yong-Ho Yoo, Lorenz Quack Dynamics of Rigid Body Impacting Dense Granular Medium Yong Pang, Caishan Liu Euler’s Disk and Disk-Ball System Hongjian Zhang, Caishan Liu OPT 2 of 3 | Optimization, Sensitivity Analysis and Parameter Identification 14:50 – 15:50 Session Chair: Dieter Bestle Room V 7.04 Multi Body Simulation and Optimization of Large-Bore Combustion Engines Using Model Order Reduction Alexander Riess, Ronald H. W. Hoppe, Eckhardt Eisenbeil, Andreas Linke, Dietmar Pinkernell Reduction of a Vehicle Multibody Dynamic Model Using Homotopy Optimization Andrew Hall, Thomas Uchida, Francis Loh, Chad Schmitke, John McPhee Performance Evaluation and Design Optimization of a Pantograph for the High-Speed Train Jin Hee Lee, Tae Won Park, Kyung Seok Sim ALG 3 of 6 | Algorithms, Integration Codes and Software 14:50 – 15:50 Session Chair: Bernhard Schweizer Room 0.144 On the Stability of Lie Group Time Integration in Multibody Dynamics Peter Češarek, Dejan Zupan Enabling Computational Dynamics in Distributed Computing Environments Using a Heterogeneous Computing Template Hammad Mazhar, Toby Heyn, Andrew Seidl, Spencer O’Rourke, Alessandro Tasora, Dan Negrut A C++ Library for Algebraic Computations of Rigid Body Motions Andreas Müller, Alessandro Tasora EFF 2 of 4 | Efficient Methods and Real-Time Applications 14:50 – 15:50 Session Chair: Corina Sandu Room 0.153 Comparison of Linearized vs. Non-Linearized Multibody Vehicle Model for Real-Time Simulation Kotaro Obana, Taichi Shiiba, Naoya Machida Hardware-in-the-Loop Simulation of High-Fidelity Multibody Systems William C. Prescott Real-Time Simulation of Tracked Vehicles on Rough Terrain Claude Lacoursière

COFFEE BREAK 15:50 – 16:20

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FLEX 4 of 8 | Flexible Multibody Systems 16:20 – 17:40 Session Chair: José L. Escalona Room V 9.01 A Study on the Virtual Working Simulation of Wheel Loader for Fatigue Life Assessment Hee-Jong Lee, Tae-Ro Cha, Pan-Young Kim, Sung-Woo Nam An Efficient Description for Rotating Flexible Structures with Spatially Fixed Loads Ingo Kaiser, Andreas Heckmann Effect of Fibre Preload on the Dynamics of an Inverted Pendulum Driven by Fibres Pavel Polach, Michal Hajžman CON 4 of 8 | Contact and Impact Problems 16:20 – 17:40 Session Chair: Yoshiaki Terumichi Room V 7.03 A Compliant Contact Model Based on Differential Variational Inequalities Alessandro Tasora, Dan Negrut, Silvia Negrini The Exclusion Principle of Dynamics Friedrich Pfeiffer On the Numerical Solution of Many-Body Dynamics Problems Formulated as Complementarity Problems Toby Heyn, Mihai Anitescu, Alessandro Tasora, Dan Negrut Co-rotated Finite Elements and Reduced Order Modeling of Multibody Dynamic Contact Problems Tomasz Koziara, Lukasz Kaczmarczyk, Steve Brasier, Nenad Bićanić OPT 3 of 3 | Optimization, Sensitivity Analysis and Parameter Identification 16:20 – 17:40 Session Chair: Peter C. Müller Room V 7.04 A Fuzzy Arithmetical Approach to the Inclusion of Uncertainties in Multibody Systems Michael Hanss, Nico-Philipp Walz Computation of Independent Sensitivities Using Maggi’s Formulation María D. Gutiérrez-López, Alfonso Callejo, Javier García de Jalón Vehicle-Terrain Interaction Model for Analysis and Performance Evaluation Bahareh Ghotbi, Francisco J. González, Jozsef Kövecses, Jorge Angeles Using Multibody-System Modelling to Make Accurate Predictions of Vehicle Impacts on Road Restraint Systems Detlef H.-J. F. Neuenhaus, Urs Joachim Geßler ALG 4 of 6 | Algorithms, Integration Codes and Software 16:20 – 17:40 Session Chair: Olivier Brüls Room 0.144 The Modeling of Flexible Bodies in the Object-Oriented Multi-Domain Framework Modelica Andreas Heckmann, Stefan Hartweg, Martin Otter, Jakub Tobolár, Jonathan Brembeck Structural Dynamics of Internal Combustion Engines Considering Oil Film Lubricated Contacts Günter Offner An Object Oriented Framework: From Flexible Multibody Dynamics to Fluid-Structure Interaction Christian Hesch, Peter Betsch A Membrane Element for Micro-Aerial Vehicle Fluid-Structure Interaction Pierangelo Masarati, Marco Morandini, Tommaso Solcia EFF 3 of 4 | Efficient Methods and Real-Time Applications 16:20 – 17:40 Session Chair: Bill Prescott Room 0.153 Real-Time Simulation of an n x n Vehicle for Autonomous Driving Sang-Do Na, Bo-min Kim, Kwang-Suk Kim, Wan-Suk Yoo Connected Sub-System Global Modal Parameterization for Efficient Simulation of Complex Flexible Multibody Systems Frank Naets, Wim Desmet Model Reduction for Efficient Time-Integration of Non-Linear Flexible Multibody Models Steven Boer, Derk ten Hoopen, Ronald Aarts, Wouter Hakvoort, Ben Jonker On the Gröbner Basis Triangularization of Constraint Equations in Natural Coordinates Thomas Uchida, Alfonso Callejo, Javier García de Jalón, John McPhee

Conference Reception – Old Castle 18:30 – 21:00

KEYNOTE | Harry Dankowicz 09:00 – 09:40 Computational DFD Analysis: Using Continuation Methods in Room V 7.02 Dynamics for Design Session Chair: Janusz Frączek

ROB 1 of 6 | Robotics, Control and Mechatronics 09:50 – 11:10 Session Chair: Subir Kumar Saha Room V 9.01 Analysis of Servo-Constraint Problems for Underactuated Multibody Systems Robert Seifried, Wojciech Blajer Multibody Models of Compliant and Underactuated Robotic Hands Grasping and Manipulating Objects Monica Malvezzi, Domenico Prattichizzo Dynamic Analysis of Under-Actuated Mechanical Systems for Design Optimization and Control Performance László Kovács, László Bencsik, József Kövecses Wave-Based Control of Under-Actuated Flexible Structures with Strong External Disturbing Forces William J. O’Connor, Hossein Habibi CON 5 of 8 | Contact and Impact Problems 09:50 – 11:10 Session Chair: Xiaoting Rui Room V 7.03 Structure Preserving Simulation of Monopedal Jumping Michael W. Koch, Sigrid Leyendecker Planned Contacts and Collision Avoidance in Optimal Control Problems Sigrid Leyendecker, Gwen Johnson, Michael Ortiz Analytic Solution to 3-Dimensional, Single Point Collision Problems Using Stronge’s Hypothesis Adrian Rodriguez, Alan Bowling A Linear-by-Part Approach for Dissipative Multiple-Point Collisions in Smooth Multibody Systems with Perfect Constraints Ana Barjau, Joaquim A. Batlle, Josep M. Font-Llagunes FLEX 5 of 8 | Flexible Multibody Systems 09:50 – 11:10 Session Chair: Johannes Gerstmayr Room V 7.04 Transform from Bezier or B-Spline Curve to ANCF Cable Element for Analysis Zuqing Yu, Peng Lan, Jia Wang, Nianli Lu Derivation of the Elastic Forces in the Absolute Nodal Coordinate Formulation Based on the Canonical Theory with Constraints Kensuke Hara, Masahiro Watanabe Partially-Parameterized ANCF 3D Beam Elements 22(c+1)3 as a Compromise Between Thin Elements 12c3 and Fully-Parameterized Thick Elements 32(c+2)3 Oleg Dmitrochenko, Marko Matikainen, Aki Mikkola Comparison Between ANCF and B-Spline Surfaces Aki Mikkola, Ahmed Shabana ALG 5 of 6 | Algorithms, Integration Codes and Software 09:50 – 11:10 Session Chair: Haidong Yu Room 0.144 Of the Designing of a Software Dedicated to the Numerical Simulation of Contact Dynamic Problems Rémy Mozul, Frédéric Dubois Numerical Integration of Regularized Equations of Motion Using the Software Package GEOMS Andreas Steinbrecher A Workbench for Multibody Systems ODE and DAE Solvers Christian Andersson, Johan Andreasson, Claus Führer, Johan Åkesson Automatic Extraction of DH Parameters of Serial Manipulators Using Line Geometry Rajeevlochana Chittawadigi, Subir K. Saha EFF 4 of 4 | Efﬁcient Methods and Real-Time Applications 09:50 – 11:10 Session Chair: Kurt Anderson Room 0.153 A Novel Method for Dynamics Simulation of Multibody Systems in Singular Conﬁgurations Evtim V. Zahariev State Estimation Using Multibody Models and Nonlinear Kalman Filters Roland Pastorino, Dario Richiedei, Javier Cuadrado, Alberto Trevisani ODE Modeling of Multibody Systems for Real-Time Simulation Ralph Jödicke, Uwe Jungnickel, Andreas Müller 26 '%%(## *.3

COFFEE BREAK 11:10 – 11:40

ROB 2 of 6 | Robotics, Control and Mechatronics 11:40 – 13:00 Session Chair: Nikolay Bolotnik Room V 9.01 Modeling of an Industrial Multi-Robot Portal System as a Flexible Multibody System for Feed-Forward Control Stefan Hartweg Tracking Error Compensation of a 6-SBU Stewart Platform Biswajit Halder, Rana Saha, Dipankar Sanyal Dynamics and Actuation of the Acroboter Platform Ambrus Zelei, László Bencsik, Gábor Stépán, László Kovács Coupled Dynamics of a Container Crane with Active Damping of Load Swing Edwin Kreuzer, Christian Radisch, Christian Rapp CON 6 of 8 | Contact and Impact Problems 11:40 – 13:00 Session Chair: Friedrich Pfeiffer Room V 7.03 Numerical Experiments with the Painlevé Paradox: Rigid Body vs. Compliant Contact Tobias Preclik, Ulrich Rüde A Position-Based Time-Stepping Approximation of Multibody Dynamics with Perfect Unilateral Constraints Laetitia Paoli Painleve’s Paradoxes: Simulation, Experiment and Theory Zhao Zhen, Caishan Liu A Newmark-Type Integrator for Flexible Systems Considering Non-Smooth Unilateral Constraints Qiong-zhong Chen, Vincent Acary, Geoffrey Virlez, Olivier Brüls FLEX 6 of 8 | Flexible Multibody Systems 11:40 – 13:00 Session Chair: Oskar Wallrapp Room V 7.04 Modelling of Boundary Conditions and Joints with Finite Elements Based on the Absolute Nodal Coordinate Formulation Johannes Gerstmayr, Peter Gruber, Karin Nachbagauer Nonlinear Dynamic Analysis of Three-Dimensional Shear Deformable ANCF Beam Finite Elements Karin Nachbagauer, Peter Gruber, Johannes Gerstmayr A Controller Design for Flexible Multibody Systems by the Use of Absolute Nodal Coordinate Formulation and Dimension Reduction of the Controller Yoshiki Sugawara, Nobuyuki Kobayashi Modeling Hoisting Machines with the Arbitrary Lagrangian-Eulerian Absolute Nodal Coordinate Formulation José L. Escalona ALG 6 of 6 | Algorithms, Integration Codes and Software 11:40 – 13:00 Session Chair: John McPhee Room 0.144 On the Constraints Violation for Forward Multibody Dynamics: Application of the Baumgarte Stabilization Method Janete L. Alves, Margarida Machado, Nuno Peixinho, Paulo Flores Efﬁcient Constraint Modeling for Closed-Chain Dynamics Abhinandan Jain, Cory Crean, Calvin Kuo, Marco Quadrelli OTH 1 of 2 | Other Topics 11:40 – 13:00 Session Chair: Sung-Soo Kim Room 0.153 Study on the Effects of GPU Parallel Programming for Multibody System Dynamics Jun Chulwoong, Sohn Jeonghyun Advanced Aero-Elastic Multi-Body Simulation of Wind Turbines Stefan Hauptmann, Friedemann Beyer, Denis Matha, Po-Wen Cheng Dynamics in Lithographic Projection Objectives - Problems and Current Research Nicolai Wengert, Jens Kugler, Bernhard Geuppert, Peter Eberhard Iterative Control for a Vibration Rig Using Estimation of Model Uncertainty Seung Guk Baek, Sung Moo Ryew, Ki Tak Ahn, Hyoung Kwon Kim, Ja Choon Koo

LUNCH 13:00 - 14:00

KEYNOTE | Yoshihiro Suda 14:00 – 14:40 Dynamic Simulation and Analysis for Sustainable Transport Systems Room V 7.02 Session Chair: Edwin Kreuzer

ROB 3 of 6 | Robotics, Control and Mechatronics 14:50 – 15:50 Session Chair: Robert Seifried Room V 9.01 Pole Assignment in Flexible Link Multibody Mechanisms: a Receptance-Based Approach Huajiang Ouyang, Dario Richiedei, Alberto Trevisani Simplified Mechanism Representation Through a Multibody Model Reduction Approach for the Enhancement of an Iterative Learning Controller Marco Gubitosa, Alessandro Toso, Joris De Cuyper, Wim Desmet Properties of a Time-Optimal Feedback Control for a Second-Order Nonlinear System Sergey A. Reshmin CON 7 of 8 | Contact and Impact Problems 14:50 – 15:50 Session Chair: Laetitia Paoli Room V 7.03 Simulation of Elastic Gears with Non-Standard Flank Profiles Trong Phu Do, Pascal Ziegler, Peter Eberhard A Comparison of Rolling Contact on Roller-Coaster Rails Between Penalty-Methods and Exact Event- Controlled Impact Detection Christian Malessa, Andres Kecskemethy Simulation of the Dynamic Interaction of Continuum - Divided Media: Methodology and Application for Dams and Building Hong-Phong Cao, François Voldoire FLEX 7 of 8 | Flexible Multibody Systems 14:50 – 15:50 Session Chair: Harry Dankowicz Room V 7.04 Selection of Dependent and Independent Coordinates in a Flexible Multibody Model Using SVD Ronald Aarts, Dannis M. Brouwer, Jacob P. Meijaard, Ben Jonker Investigations on the Application of Energy-Momentum Schemes to Modally-Reduced Multibody Systems Alexander Humer, Daniel Reischl, Johannes Gerstmayr A Fluid-Structure Interaction Approach by Direct Coupling of Smoothed Particle Hydrodynamics with Flexible Multibody System Dynamics Markus Schörgenhumer, Peter Gruber, Johannes Gerstmayr BIO 1 of 6 | Biomechanics 14:50 – 15:50 Session Chair: Andres Kecskemethy Room 0.144 Kinematic Characterization of Soft Tissue Artifacts in Human Movement Analysis Helios de Rosario, Álvaro Page, Vicente Mata, Antonio Besa, Efraim Conejero Efficient Formulation for Inverse Dynamics Simulation of Human Sagittal Plane Movements Wojciech Blajer, Krzysztof Dziewiecki, Zenon Mazur Upper Limb Mechanical Impedance Variability Estimation by Inverse Dynamics and Torque-Less Activation Modes Andrea Zanoni, Pierangelo Masarati, Giuseppe Quaranta OTH 2 of 2 | Other Topics 14:50 – 15:50 Session Chair: Nobuyuki Shimizu Room 0.153 A Robust and Efficient General Purpose Contact Algorithm for Rigid and Flexible Bodies Juhwan Choi, Jin H. Choi Dynamics Simulation of Long Polymeric Fibres Immersed in a Turbulent Air Flow Francesco Battocchio, Michael Sutcliffe, F. Teschner Reactive Power Compensation in Mechanical Systems Carlos Rengifo, Bassel Kaddar, Yannick Aoustin, Christine Chevallereau

COFFEE BREAK 15:50 – 16:20

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ROB 4 of 6 | Robotics, Control and Mechatronics 16:20 – 17:40 Session Chair: Yoshihiro Suda Room V 9.01 Gait Generation and Adaptive Control in Artiﬁcial Worm Dynamics Joachim Steigenberger, Carsten Behn Control of Motion of Limbless One-Dimensional Locomotion Systems in a Resistive Medium Nikolay N. Bolotnik, Felix L. Chernousko, Igor Zeidis, Klaus Zimmermann Importance of Dynamic Parameters in Motion Imitation Using Simple Footage Link Karthick Munirathinam, Sophie Sakka, Christine Chevallereau CON 8 of 8 | Contact and Impact Problems 16:20 – 17:40 Session Chair: Jinyang Liu Room V 7.03 An Energy-Momentum Scheme for Frictional Contact in Flexible Multibody Dynamics Marlon Franke, Christian Hesch, Peter Betsch Friction Modelling and Validation for a Volumetric Contact Dynamics Model Michael Boos, John McPhee A Force-Fit Model for Modally Reduced Flexible Bodies Including Contact, Friction and Stick-Slip Effects Daniel Reischl, Johannes Gerstmayr FLEX 8 of 8 | Flexible Multibody Systems 16:20 – 17:40 Session Chair: Jean-Claude Samin Room V 7.04 About Constraints in Structural and Rigid Body Mechanics Simon R. Eugster, Christoph Glocker Modeling of Take-Up in the Analysis of Tether Space Mobility Device Shoichiro Takehara, Y. Kondo Active Vibration Control of a Flexible Slider-Crank Maria A. Neto, Jorge Ambrósio, Luis M. Roseiro, Ana P. Amaro THEO 1 of 4 | Theoretical and Computational Methods 16:20 – 17:40 Session Chair: Wojciech Blajer Room 0.144 A Method of Computing the Hessian Matrix of Loop Closing Conditions for Multibody Dynamics Formulations Based on Relative Coordinates Makoto Iwamura, Masafumi Nagao Ill-Conditioning of the Generalized Inertia Matrix of a Dynamical System Using Pivot Ratios Suril V. Shah, Subir Kumar Saha, Jayanta Kumar Dutt Automatical Transfer Matrix Method of Multibody System Xiaoting Rui, Jianshu Zhang A New Numerical Strategy for Handling Quaternion in Dynamic Modeling and Simulation of Rigid Multibody Systems Mahdi Haghshenas-Jaryani, Alan P. Bowling

KEYNOTE | Peter C. Müller 09:00 – 09:40 Kurt Magnus: A Pioneer of Multibody System Dynamics Room V 7.02 Session Chair: Werner Schiehlen

ROB 5 of 6 | Robotics, Control and Mechatronics 09:50 – 11:10 Session Chair: Makoto Iwamura Room V 9.01 Feedforward Control Design From General-Purpose Multibody Analysis for an Original Parallel Robot Concept Marco Morandini, Pierangelo Masarati, Luca Bargigli, Lucio Vaccani Inverse Dynamics of Parallel Kinematic Manipulators with Flexible Links Guaraci Jr. Bastos, Robert Seifried, Olivier Brüls Three-Dimensional Dynamic Modeling of the Nao Biped Robot with Simpliﬁed Equations of Motion in Sagittal and Frontal Planes Ehsan Hashemi, Maani Ghaffari Jadidi VEH 1 of 5 | Dynamics of All Vehicles 09:50 – 11:10 Session Chair: Javier Cuadrado Room V 7.03 Electromechanical Model of Rail Vehicle Slawomir Duda Locomotive Model Acceptance Procedures Based on International Standards Maksym Spiryagin, Colin Cole, Yan Quan Sun, Andrew George A Dynamic Formulation for Railroad Vehicles Simulation Using a Trajectory Coordinate System Antonio M. Recuero, José L. Escalona, Rosario Chamorro 3D Motion of High Speed Train on Vibrating Tracks Yoshiaki Terumichi, Tetsufumi Hirano, Kazuhiko Nishimura, Hironobu Sunami, Kiyoshi Sogabe BIO 2 of 6 | Biomechanics 09:50 – 11:10 Session Chair: Zdravko Terze Room V 7.04 Concept of a TransFemoral Prosthesis that Uses Energy Harvested in the Knee to Activate the Ankle Arnout Matthys, Pierre Cherelle, Michael Van Damme, Bram Vanderborght, Dirk Lefeber Model Based Dynamic Analysis of Total Hip Endoprostheses by Means of Hardware-in-the-Loop Simulation Michael Kähler, Roman Rachholz, Sven Herrmann, Janos Zierath, Robert Souffrant, Daniel Kluess, Rainer Bader, Christoph Woernle Nonlinear Modeling of the Human Hearing Sebastian Ihrle, Michael Lauxmann, Hans-Peter Zenner, Albrecht Eiber THEO 2 of 4 | Theoretical and Computational Methods 09:50 – 11:10 Session Chair: Dirk Lefeber Room 0.144 Constraint Reactions in Multibody Systems with Redundant Nonholonomic Constraints Marek Wojtyra, Janusz Frączek Multibody Dynamics with Redundant Constraints and Singular Mass Matrix Javier García de Jalón, María D. Gutiérrez-López Natural Coordinates, Cosserat Points and Optimal Control of Multibody Systems Peter Betsch, Ralf Siebert Use of Penalty Formulations in the Dynamic Simulation of Redundantly Constrained Multibody Systems Francisco González, József Kövecses

30 )$*(# *.3

ROT 1 of 4 | Dynamics of Machines and Rotating Structures 09:50 – 11:10 Session Chair: Michael Valasek Room 0.153 Flexible Multibody Systems for Modelling and Simulation of the Turning of Thin-Walled Cylinders Achim Fischer, Jorge Ambrósio, Peter Eberhard Contribution on the Dynamics of Beam Structures with Non-Symmetric Cross Sections Fabian Böck, Stefan Dietz, Oskar Wallrapp Cylindrical Clearance Linkages in Multibody Dynamics: Contact Analysis and Automatisation Torben Fruth, Panagiotis Koutsovasilis

COFFEE BREAK 11:10 – 11:40

ROB 6 of 6 | Robotics, Control and Mechatronics 11:40 – 13:00 Session Chair: József Kövecses Room V 9.01 Basic Study on Multibody Dynamics Analysis of the Inverted Pendulum Vehicle and Driver Chihiro Nakagawa, Shunsuke Arakawa, Atsuhiko Shintani, Tomohiro Ito Boundary-Controlled Travelling and Standing Waves in Cascaded Lumped Systems William J. O’Connor, Ming Zhu Travelling and Standing Waves in Lumped, Cascaded Systems: the Non-Uniform Case William J. O’Connor, Ming Zhu On the Haptic Simulation of Soft-finger Contact Model with Rolling Gionata Salvietti, Monica Malvezzi, Domenico Prattichizzo VEH 2 of 5 | Dynamics of All Vehicles 11:40 – 13:00 Session Chair: Aki Mikkola Room V 7.03 Dynamical Analysis of the HIL MDM Scaled Roller Rig for the Simulation of Wheel-Rail Degraded Adhesion Condition Benedetto Allotta, Roberto Conti, Monica Malvezzi, Enrico Meli, Luca Pugi, Andrea Rindi Simulation of Railway Braking Tests under Degraded Adhesion Conditions Benedetto Allotta, Alessandro Ridolfi, Luca Pugi, Monica Malvezzi, Andrea Rindi, Gregorio Vettori Development of a Wear Model for the Wheel Profile Optimization in the Railway Field Mirko Ignesti, Lorenzo Marini, Enrico Meli, Andrea Rindi, Paolo Toni On the Constraint/Elastic Contact Approach for the Analysis of Wheel/Rail Contact Problem of Railroad Vehicles Shunpei Yamashita, Hiroyuki Sugiyama

BIO 3 of 6 | Biomechanics 11:40 – 13:00 Session Chair: Christoph Woernle Room V 7.04 A Model for Computing the Dual Stiffness Matrix of the Human Knee Joint Cristiano Enea, Ettore Pennestrì, Pier Paolo Valentini An Analytical Model for Frictionless Contact Between thin Transversely Isotropic Viscoelastic Layers with a Migrating Contact Area: Application to Repetitive Movements of the Knee Joint During Walking Ivan I. Argatov A Multibody-Based Approach to the Computation of Spine Intervertebral Motions in Scoliotic Patients Gabriel Abedrabbo, Pierre-Antoine Absil, Philippe Mahaudens, Christine Detrembleur, Maxime Raison, Maryline Mousny, Paul Fisette Design of the AMP-Foot 2.0: An Active Transtibial Prothesis that Mimicks Able-Bodied Ankle Behavior Pierre Cherelle, Arnout Mathijs, Victor Grosu, Branko Brackx, Michael Van Damme, Bram Vanderborght, Dirk Lefeber THEO 3 of 4 | Theoretical and Computational Methods 11:40 – 13:00 Session Chair: Marek Wojtyra Room 0.144 Efﬁcient Far-Field Force and Torque Calculations in Multibody-Based Modeling of Biopolymers Mohammad Poursina, Jeremy Laﬂin, Kurt S. Anderson Modelling and Simulation of the Motion of a Slender Beam in a Tube Jacob P. Meijaard, Ronald Aarts, Dannis M. Brouwer Multibody Domain Decomposition for Parallel Processing: a Wave-Based Approach to Handling Interface Dynamics Craig Smoothey, William J. O’Connor Sample Based Performance Estimation of a Multibody System Having Uncertain System Parameters with an Arbitrary Distribution Chan Kyu Choi, Hong Hee Yoo ROT 2 of 4 | Dynamics of Machines and Rotating Structures 11:40 – 13:00 Session Chair: Jin Hwan Choi Room 0.153 Transient Analysis of Elevator Governor and Safety Gear Mechanism Seiji Watanabe, Mitsuyoshi Imura Asymmetric Supply Type Hydrostatic Gas Journal Bearings to Decrease the Driving Power of the ACROSS Transmitters Tomohiko Ise, Hiroshi Miyatake, Toshihiko Asami Advanced Engine Dynamics Using MBS and a Mixed Nonlinear FEM and Super Element Approach Yannick Louvigny, Pierre Duysinx

LUNCH 13:00 – 14:00

VEH 3 of 5 | Dynamics of All Vehicles 14:00 – 15:20 Session Chair: Georg Rill Room V 7.03 Ride Simulation of a Multibody Vehicle Model Including Semi-Active Damping Control Volker Dorsch Two-Degree-of-Freedom Control Approach for an Active Suspension System Oussama Ajala, Dieter Bestle, Jochen Rauh, Karl-Josef Rieger Development of a Semi-Active Suspension System to Improve Lateral Behavior for a High Speed Train Kyung Seok Sim, Tae Won Park, Jin Hee Lee

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BIO 4 of 6 | BIOMECHANICS 14:00 – 15:20 Session Chair: Paul Fisette Room V 7.04 Optimal Control of Biomechanical Motion Using Physiologically Motivated Cost Functions Ramona Maas, Sigrid Leyendecker On the Reﬁnement of Muscular Dynamical Modeling for Muscle Force Quantiﬁcation Maria Laitenberger, Mickael Begon, Maxime Raison A 3D-Model to Estimate Muscle Forces During Human Gait Joaquín Ojeda, Romain Leberre, Javier Martinez-Reina, Juana Mayo THEO 4 of 4 | Theoretical and Computational Methods 14:00 – 15:20 Session Chair: Peter Betsch Room 0.144 DAE Index 1 Formulation for Multibody System Dynamics in Lie-Group Setting Zdravko Terze, Andreas Müller, Dario Zlatar Formulation of Kinematic Joints and Rigidity Constraints in Multibody Dynamics Using a Lie Group Approach Valentin Sonneville, Olivier Brüls Analysis of an Energy Constraint in Post Impact Velocity Optimization Daniel Montrallo Flickinger, Alan Bowling, Kamesh Subbarao Computational Structural Analysis of Planar Multibody Systems with Lower and Higher Pairs Mariano Saura, Ana I. Celdrán, Daniel Dopico, Javier Cuadrado

Excursion – Mercedes-Benz Museum 16:00 – 18:15

Conference Dinner – Wilhelma 18:45 – 23:00

KEYNOTE | Olivier Bauchau 09:00 – 09:40 Intrinsic Time Integration Procedures for Rigid Body Dynamics Room V 7.02 Session Chair: Ettore Pennestrì

VEH 4 of 5 | Dynamics of All Vehicles 9:50 – 11:10 Session Chair: Arend Schwab Room V 7.03 Dynamic Analysis of Tracked Vehicle Suspension System Slawomir Kciuk Automatic Frequency Response Function Calculation in a Multi-Body Solver and its Application for Road Load Prediction for Fatigue Analysis on Passenger Vehicles Alessandro Toso, William C. Prescott, Stefano Candreva, Joris De Cuyper 6x6 Off-Road Vehicle Simulations for Vibration Energy Regeneration using Active Suspension Systems Jae Yong Kim, Wan Hee Jeong, Sung-Soo Kim A Simpliﬁed Soil Contact Formulation for the Dynamic Simulation of Off-Road Vehicles Tariq Z. Sinokrot, Alan Lewis, William C. Prescott BIO 5 of 6 | BIOMECHANICS 9:50 – 11:10 Session Chair: Jorge Ambrósio Room V 7.04 Two Approaches to Estimate Foot-Ground Contact Model Parameters Using Optimization Techniques Rosa Pàmies-Vilà , Josep M. Font-Llagunes, Urbano Lugrís, Javier Cuadrado Joint Efforts Calculation in the Gait of Incomplete Spinal Cord Injured Subjects Urbano Lugris, Jairo Carlin, Florian Michaud, Javier Cuadrado Dynamic Analysis of Foot Models for Human Locomotion Farnood Gholami, József Kövecses, Josep M. Font-Llagunes Marker Based In-Vivo Analysis of 3D Spinal Motion During Gait Using Spline Curves Dietmar Rosenthal, Alejandro A. Espinoza Orias, Harald Hefter, Gunnar Andersson, Markus A. Wimmer, Andres Kecskeméthy ROT 3 of 4 | Dynamics of Machines and Rotating Structures 9:50 – 11:10 Session Chair: Klaus Dreßler Room 0.153 A Periodic Input-Output Stability Analysis Method for Complex Multibody Systems with Applications to Wind Turbine Aero-Servo-Elasticity Carlo L. Bottasso, Stefano Cacciola, Alessandro Croce Modelling and Analysis of Friction Effects in the Rotating Blades Dynamics Michal Hajžman, Miroslav Byrtus, Vladimír Zeman Dynamics of a Controlled Flexible Multibody Model of a 2 MW Wind Turbine Roman Rachholz, Christoph Woernle, János Zierath Stability Analysis of a Rotating Wind Turbine Blade Undergoing Gravitational Force Seung Min Kwon, Hong Hee Yoo

COFFEE BREAK 11:10 – 11:40

VEH 5 of 5 | Dynamics of All Vehicles 11:40 – 13:00 Session Chair: Olivier Bauchau Room V 7.03 Symbolic Modeling of Vehicles Roberto Lot, Matteo Massaro Vehicle Modeling by Non-Perfect Multibody Systems Georg Rill A Multibody Model of a Formula Student Car – On-Track Validation and Set-up Optimization Riccardo Bartolozzi, Francesco Bucchi, Francesco Frendo Minimal Requirements of Multibody Pantograph Models for Railway Pantograph-Catenary Contact Interaction Jorge Ambrósio, João Pombo

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BIO 6 of 6 | BIOMECHANICS 11:40 – 13:00 Session Chair: Evtim Zahariev Room V 7.04 Multibody Analysis of Rotorcraft-Pilot Coupling Vincenzo Muscarello, Pierangelo Masarati, Giuseppe Quaranta Improvement of the Railway Coach Interior Occupant Protection Marta Carvalho, João Milho, Jorge Ambrósio Rider Control Identiﬁcation in Bicycling, Parameter Estimation of a Linear Model Using Lateral Force Perturbation Tests Arend Schwab, Peter de Lange, Riender Happee, Jason K. Moore Investigation of Biomechanical Behavior of Automotive Pedal Actuation using Motion Analysis Technique Younghwan Kim, Dongchan Kim, Kyungho Kim, Taeoh Tak ROT 4 of 4 | Dynamics of Machines and Rotating Structures 11:40 – 13:00 Session Chair: Martin Arnold Room 0.153 Improved Physically-Oriented Model of the Spur Involute Gear Dynamics Ivan I. Kosenko, Ilya K. Gusev Correlation of the Instability Conditions and Relevant Design Parameters in Multiple Pinion Drives Haidong Yu, Peter Eberhard, Yong Zhao, Hao Wang Modeling and Validation of a Dynamic Model of a Yawing Mechanism for Load-Sharing Analysis Shaoping Bai, Morten Haastrup, Pascal Rigal

LUNCH 13:00 - 14:00

KEYNOTE | Aki Mikkola 14:00 – 14:40 Developments and Future Outlook of the Absolute Nodal Room V 7.02 Coordinate Formulation Session Chair: Pascal Ziegler

CLOSING SESSION 14:40 – 15:20 Room V 7.02

35 Imprint

Organized by | University of Stuttgart, Institute of Engineering and Computational Mechanics, Pfaffenwaldring 9, 70569 Stuttgart, Germany E-Mail: [email protected] Phone: +49 (0)711 685 66388 Fax: +49 (0)711 685 66400

Chairman | Prof. Dr.-Ing. Peter Eberhard

Conference Secretary | Dr.-Ing. Pascal Ziegler

Editorial | Heidi-Maria Götz, Dr.-Ing. Pascal Ziegler

Design | Tina Barthelmes

Photos | University of Stuttgart, University of Stuttgart / Cichowicz, Stuttgart-Marketing GmbH, Daimler AG, Wilhelma

Maps | Bundesamt für Kartographie und Geodäsie / Frankfurt am Main / 2012, Stadtmessungsamt / Landeshauptstadt Stuttgart / 2012

Version | 21-5-2012 For more information www.itm.uni-stuttgart.de/imsd2012